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This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -11,6 +11,12 @@ This guide is for using the new `PCAN-USB FD` with the support of the CAN-FD fra This is a quick guide on how to install linux driver for the pcan usb adapter and run some demo test setup. This setup is tested on the moteus-motor-drivers which require custom CAN parameter to be configured : ## Installion specs. of system : * Ubuntu 22.04 (*Kernel version : * Linux ASUS 6.0.0-1016-oem ) * PCAN-USB FD * Mjbots-Moteus-r4.11 * Peak Linux Driver version : peak-linux-driver-8.16.0 * CAN Configuration parameter from : [reference.md](https://github.com/mjbots/moteus/blob/main/docs/reference.md#80-mhz-clock-systems) # Installation step 1. Go to the offical website of the peak : https://www.peak-system.com/fileadmin/media/linux/index.htm or @@ -136,5 +142,6 @@ This setup is tested on the moteus-motor-drivers which require custom CAN parame * mjbot moteus r4.11 : https://mjbots.com/products/moteus-r4-11 * can-utils guide: https://dissec.to/kb/chapters/can/canfd.html * peak usb guide :https://github.com/SICKAG/sick_line_guidance/blob/master/doc/pcan-linux-installation.md * CAN Configuration parameter : https://github.com/mjbots/moteus/blob/main/docs/reference.md#80-mhz-clock-systems If you want to make any suggestion please comment below or reach at twitter [@pranav083](https://twitter.com/pranav083) -
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This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -1,3 +1,4 @@ # PCAN-USB FD pcan-linux-installation This guide is about the istallation and running of the `PCAN-USB FD` and running test using socketcan, with your custom CAN profile. @@ -75,10 +76,10 @@ This setup is tested on the moteus-motor-drivers which require custom CAN parame ``` 4. Example output after successfull installation of a pcan usb adapter: ```bash mighty@ASUS:~/Downloads/peak-linux-driver-8.16.0$ ./driver/lspcan --all pcanusbfd32 CAN1 - 80MHz 1M+5M WARNING 0.00 4 2 114461 mighty@ASUS:~/Downloads/peak-linux-driver-8.16.0$ tree /dev/pcan* /dev/pcan32 [error opening dir] /dev/pcan-usb_fd └── 0 @@ -87,7 +88,7 @@ This setup is tested on the moteus-motor-drivers which require custom CAN parame 1 directory, 1 file mighty@ASUS:~/Downloads/peak-linux-driver-8.16.0$ ip -details link show can0 21: can0: <NOARP,UP,LOWER_UP> mtu 72 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10 link/can promiscuity 0 minmtu 0 maxmtu 0 can <LOOPBACK,FD> state ERROR-WARNING (berr-counter tx 127 rx 0) restart-ms 0 @@ -117,10 +118,10 @@ This setup is tested on the moteus-motor-drivers which require custom CAN parame 6. The output of the above command if you are using `moteus-r4.11` : ```bash # in the first terminal mighty@ASUS:~$ cansend can0 00008001##0420120 #in the second terminal mighty@ASUS:~$ candump -x can0 can0 TX - - 00008001 [03] 42 01 20 can0 RX - - 00008001 [03] 42 01 20 can0 RX - - 100 [03] 41 01 00 -
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This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters. Learn more about bidirectional Unicode charactersOriginal file line number Diff line number Diff line change @@ -0,0 +1,139 @@ # PCAN-USB FD pcan-linux-installation This guide is about the istallation and running of the `PCAN-USB FD` and running test using socketcan, with your custom CAN profile. This is the product page : https://www.peak-system.com/PCAN-USB-FD.365.0.html?&L=1 The official documentation can be found here : https://www.peak-system.com/fileadmin/media/linux/files/PCAN-Driver-Linux_UserMan_eng.pdf This guide is for using the new `PCAN-USB FD` with the support of the CAN-FD frame using updated `socketCAN` This is a quick guide on how to install linux driver for the pcan usb adapter and run some demo test setup. This setup is tested on the moteus-motor-drivers which require custom CAN parameter to be configured : # Installation step 1. Go to the offical website of the peak : https://www.peak-system.com/fileadmin/media/linux/index.htm or 1. Navigate to this section : `Driver Package for Proprietary Purposes` on the above given website. 2. Click on `Download PCAN Driver Package` to download the latest driver.(This setup is tested on the driver version : `8.16.0` ) 3. You can also install pcan view from website section `PCAN-View for Linux` or follow these command : ```bash # add peak-system.list in the update list $ wget -q http://www.peak-system.com/debian/dists/`lsb_release -cs`/peak-system.list -O- | sudo tee /etc/apt/sources.list.d/peak-system.list $ wget -q http://www.peak-system.com/debian/peak-system-public-key.asc -O- | sudo apt-key add - $ sudo apt-get update $ sudo apt-get install pcanview-ncurses ``` 2. Now install these following pacakage in your system : ```bash # install required packages sudo apt-get install libncurses5 sudo apt-get install can-utils sudo apt-get install gcc-multilib sudo apt-get install libelf-dev sudo apt-get install libpopt-dev sudo apt-get install tree # build and install pcan driver tar -xzf peak-linux-driver-X.Y.Z.tar.gz # navigate to download path cd peak-linux-driver-X.Y.Z make clean make NET=NETDEV_SUPPORT # for network interface based pcan sudo make install # install the modules sudo modprobe pcan sudo modprobe can sudo modprobe vcan sudo modprobe slcan sudo modprobe pcan_usb # setup and configure "can0" net device sudo ip link set can0 type can sudo ip link set can0 up type can tq 12 prop-seg 25 phase-seg1 25 phase-seg2 29 sjw 10 dtq 12 dprop-seg 6 dphase-seg1 2 dphase-seg2 7 dsjw 12 fd on loopback on ``` **Note** : If you want to update a new configuration try to turn off the `can0` network and ```bash sudo ip link set can0 down # then again run the new parameter of CAN command again sudo ip link set can0 up type can tq 12 prop-seg 25 phase-seg1 25 phase-seg2 29 sjw 10 dtq 12 dprop-seg 6 dphase-seg1 2 dphase-seg2 7 dsjw 12 fd on loopback on ``` 3. Once you made the installation let's check : ```bash # check installation ./driver/lspcan --all # should print "pcanusb32" and pcan version tree /dev/pcan-usb # should show a pcan-usb device ip -a link # should print some "can0: ..." messages ip -details link show can0 # should print some details about "can0" net device ``` 4. Example output after successfull installation of a pcan usb adapter: ```bash artpark@ASUS:~/Downloads/peak-linux-driver-8.16.0$ ./driver/lspcan --all pcanusbfd32 CAN1 - 80MHz 1M+5M WARNING 0.00 4 2 114461 artpark@ASUS:~/Downloads/peak-linux-driver-8.16.0$ tree /dev/pcan* /dev/pcan32 [error opening dir] /dev/pcan-usb_fd └── 0 └── can0 -> ../../pcanusbfd32 /dev/pcanusbfd32 [error opening dir] 1 directory, 1 file artpark@ASUS:~/Downloads/peak-linux-driver-8.16.0$ ip -details link show can0 21: can0: <NOARP,UP,LOWER_UP> mtu 72 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10 link/can promiscuity 0 minmtu 0 maxmtu 0 can <LOOPBACK,FD> state ERROR-WARNING (berr-counter tx 127 rx 0) restart-ms 0 bitrate 1000000 sample-point 0.637 tq 12 prop-seg 25 phase-seg1 25 phase-seg2 29 sjw 10 pcan: tseg1 1..256 tseg2 1..128 sjw 1..128 brp 1..1024 brp-inc 1 dbitrate 5000000 dsample-point 0.562 dtq 12 dprop-seg 6 dphase-seg1 2 dphase-seg2 7 dsjw 12 pcan: dtseg1 1..32 dtseg2 1..16 dsjw 1..16 dbrp 1..1024 dbrp-inc 1 clock 80000000 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535 ``` 5. Now, Once we have done with the installation, we will try to send the the can data and receive the can data as well : 1. Run this command in one terminal : ```bash cansend can0 00008001##0420120 # where fdcan id is 00008001 on can0 # the '##' represent the fdcan frame # and the first bit is '0' represent 'without switching bitrate' # the data is '420120' ``` 2. Run this command in another terminal : ```bash candump -x can0 ``` 6. The output of the above command if you are using `moteus-r4.11` : ```bash # in the first terminal artpark@ASUS:~$ cansend can0 00008001##0420120 #in the second terminal artpark@ASUS:~$ candump -x can0 can0 TX - - 00008001 [03] 42 01 20 can0 RX - - 00008001 [03] 42 01 20 can0 RX - - 100 [03] 41 01 00 ``` ## Reference : * PCAN-USB FD : https://www.peak-system.com/PCAN-USB-FD.365.0.html?&L=1 * Peak Linux system : https://www.peak-system.com/fileadmin/media/linux/index.htm * mjbot moteus r4.11 CAN id setting: https://github.com/mjbots/moteus/blob/main/docs/reference.md#80-mhz-clock-systems * mjbot moteus r4.11 : https://mjbots.com/products/moteus-r4-11 * can-utils guide: https://dissec.to/kb/chapters/can/canfd.html * peak usb guide :https://github.com/SICKAG/sick_line_guidance/blob/master/doc/pcan-linux-installation.md If you want to make any suggestion please comment below or reach at twitter [@pranav083](https://twitter.com/pranav083)